Experiment-based kinematic validation of numeric modeling and simulated control of an untethered biomimetic microrobot in channel
Tabak, Ahmet Fatih and Yeşilyurt, Serhat (2012) Experiment-based kinematic validation of numeric modeling and simulated control of an untethered biomimetic microrobot in channel. In: 12th IEEE International Workshop on Advanced Motion Control (AMC 2012), Sarajevo, Bosnia and Herzegovina
Modeling and control of swimming untethered microrobots are important for future therapeutic medical applications. Bio-inspired propulsion methods emerge as realistic substitutes for hydrodynamic thrust generation in micro realm. Accurate modeling, power supply, and propulsion-means directly affect microrobot motility and maneuverability. In this work, motility of bacteria-like untethered helical microrobots in channels is modeled with the resistive force theory coupled with motor dynamics. Results are validated with private experiments conducted on cm-scale prototypes fully submerged in Si-oil filled glass channel. Li-Po battery is utilized as the onboard power supply. Helical tail rotation is triggered by an IR remote control. It is observed that time-averaged velocities calculated by the model agree well with experimental results. Finally, time-dependent performance of a hypothetical model-based position control scheme is simulated with upstream flow as disturbance.
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